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Revert "Driving Model Selector v5: Bug fixes and revert to param checks"

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This reverts commit 03fd6050f7.
This commit is contained in:
Jason Wen
2024-07-13 11:52:44 -04:00
parent 1b419974b0
commit 73994d4bb1
10 changed files with 41 additions and 31 deletions
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cereal/custom.capnp
+12
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@@ -25,6 +25,15 @@ enum AccelerationPersonality {
stock @3;
}
enum ModelGeneration {
default @0;
one @1;
two @2;
three @3;
four @4;
five @5;
}
struct ControlsStateSP @0x81c2f05a394cf4af {
lateralState @0 :Text;
personality @8 :LongitudinalPersonalitySP;
@@ -189,6 +198,9 @@ struct E2eLongStateSP @0xa5cd762cd951a455 {
struct ModelDataV2SP @0xf98d843bfd7004a3 {
laneChangePrev @0 :Bool;
laneChangeEdgeBlock @1 :Bool;
customModel @2 :Bool;
modelGeneration @3 :ModelGeneration;
modelCapabilities @4 :UInt32;
}
struct CustomReserved7 @0xb86e6369214c01c8 {
selfdrive/modeld/custom_model_metadata.py
+9 -15
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@@ -1,18 +1,12 @@
from enum import IntFlag, IntEnum
from enum import IntFlag
import os
from cereal import custom
from openpilot.common.params import Params
SIMULATION = "SIMULATION" in os.environ
class ModelGeneration(IntEnum):
DEFAULT = 0
ONE = 1
TWO = 2
THREE = 3
FOUR = 4
FIVE = 5
ModelGeneration = custom.ModelGeneration
class ModelCapabilities(IntFlag):
@@ -53,19 +47,19 @@ class CustomModelMetadata:
self.capabilities != ModelCapabilities.Default
def read_model_generation_param(self) -> ModelGeneration:
return int(self.params.get('DrivingModelGeneration') or ModelGeneration.DEFAULT)
return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
def get_model_capabilities(self) -> int:
"""Returns the model capabilities for a given generation."""
if self.generation == ModelGeneration.FIVE:
if self.generation == ModelGeneration.five:
return ModelCapabilities.DesiredCurvatureV2
elif self.generation == ModelGeneration.FOUR:
elif self.generation == ModelGeneration.four:
return ModelCapabilities.DesiredCurvatureV2
elif self.generation == ModelGeneration.THREE:
elif self.generation == ModelGeneration.three:
return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.NoO
elif self.generation == ModelGeneration.TWO:
elif self.generation == ModelGeneration.two:
return ModelCapabilities.DesiredCurvatureV1 | ModelCapabilities.NoO
elif self.generation == ModelGeneration.ONE:
elif self.generation == ModelGeneration.one:
return ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
else:
# Default model is meant to represent the capabilities of the prebuilt model
selfdrive/modeld/fill_model_msg.py
+3 -5
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@@ -55,7 +55,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
nav_enabled: bool, valid: bool,
custom_model_valid: bool, custom_model_capabilities: int) -> None:
custom_model_valid: bool, custom_model_capabilities: ModelCapabilities) -> None:
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
frame_drop_perc = frame_drop * 100
extended_msg.valid = valid
@@ -68,9 +68,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
driving_model_data.frameDropPerc = frame_drop_perc
action = driving_model_data.action
model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
if not model_use_lateral_planner:
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
modelV2 = extended_msg.modelV2
modelV2.frameId = vipc_frame_id
@@ -102,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
# lateral planning
if model_use_lateral_planner:
if custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution:
solution = modelV2.lateralPlannerSolutionDEPRECATED
solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]
selfdrive/modeld/modeld.py
+3
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@@ -402,6 +402,9 @@ def main(demo=False):
if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution):
modelV2SP.laneChangePrev = DH.prev_lane_change
modelV2SP.laneChangeEdgeBlock = lat_plan_sp.laneChangeEdgeBlockDEPRECATED
modelV2SP.customModel = custom_model_metadata.valid
modelV2SP.modelGeneration = custom_model_metadata.generation
modelV2SP.modelCapabilities = int(custom_model_metadata.capabilities)
pm.send('modelV2SP', modelv2_sp_send)
last_vipc_frame_id = meta_main.frame_id
selfdrive/ui/qt/onroad/annotated_camera.cc
+1 -2
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@@ -375,7 +375,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
featureStatusToggle = s.scene.feature_status_toggle;
experimental_btn->setVisible(!(showDebugUI && showVTC));
customModelValid = s.scene.custom_driving_model_valid;
drivingModelGen = s.scene.driving_model_generation;
}
@@ -1210,7 +1209,7 @@ void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) {
}
// Dynamic Lane Profile
if (customModelValid && drivingModelGen == 1) { // ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
if (drivingModelGen == cereal::ModelGeneration::ONE) {
drawFeatureStatusElement(dynamicLaneProfile, feature_text.dlp_list_text, feature_color.dlp_list_color, true, "OFF", "DLP");
}
selfdrive/ui/qt/onroad/annotated_camera.h
+1 -2
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@@ -203,8 +203,7 @@ private:
bool featureStatusToggle;
bool customModelValid;
int drivingModelGen;
cereal::ModelGeneration drivingModelGen;
protected:
void paintGL() override;
selfdrive/ui/qt/onroad/buttons.cc
+1 -1
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@@ -99,7 +99,7 @@ void OnroadSettingsButton::paintEvent(QPaintEvent *event) {
void OnroadSettingsButton::updateState(const UIState &s) {
const auto cp = (*s.sm)["carParams"].getCarParams();
auto dlp_enabled = s.scene.custom_driving_model_valid && s.scene.driving_model_generation == 1; // ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
auto dlp_enabled = s.scene.driving_model_generation == cereal::ModelGeneration::ONE;
bool allow_btn = s.scene.onroad_settings_toggle && (dlp_enabled || hasLongitudinalControl(cp) || !cp.getPcmCruiseSpeed());
setVisible(allow_btn);
selfdrive/ui/qt/onroad_settings.cc
+2 -2
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@@ -119,7 +119,7 @@ OnroadSettings::OnroadSettings(bool closeable, QWidget *parent) : QFrame(parent)
void OnroadSettings::changeDynamicLaneProfile() {
UIScene &scene = uiState()->scene;
bool can_change = scene.custom_driving_model_valid && scene.driving_model_generation == 1; // ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
bool can_change = scene.driving_model_generation == cereal::ModelGeneration::ONE;
if (can_change) {
scene.dynamic_lane_profile++;
scene.dynamic_lane_profile = scene.dynamic_lane_profile > 2 ? 0 : scene.dynamic_lane_profile;
@@ -229,7 +229,7 @@ void OnroadSettings::refresh() {
// Dynamic Lane Profile
dlp_widget->updateDynamicLaneProfile("DynamicLaneProfile");
dlp_widget->setVisible(scene.custom_driving_model_valid && scene.driving_model_generation == 1); // ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
dlp_widget->setVisible(scene.driving_model_generation == cereal::ModelGeneration::ONE);
// Gap Adjust Cruise
gac_widget->updateGapAdjustCruise("LongitudinalPersonality");
selfdrive/ui/ui.cc
+7 -3
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@@ -230,6 +230,12 @@ static void update_state(UIState *s) {
scene.e2eX[i] = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getE2eX()[i];
}
}
if (sm.updated("modelV2SP")) {
auto model_v2_sp = sm["modelV2SP"].getModelV2SP();
scene.custom_driving_model_valid = model_v2_sp.getCustomModel();
scene.driving_model_generation = model_v2_sp.getModelGeneration();
scene.driving_model_capabilities = model_v2_sp.getModelCapabilities();
}
}
void ui_update_params(UIState *s) {
@@ -263,8 +269,6 @@ void ui_update_params(UIState *s) {
s->scene.speed_limit_control_enabled = params.getBool("EnableSlc");
s->scene.feature_status_toggle = params.getBool("FeatureStatus");
s->scene.onroad_settings_toggle = params.getBool("OnroadSettings");
s->scene.custom_driving_model_valid = params.getBool("CustomDrivingModel");
s->scene.driving_model_generation = std::atoi(params.get("DrivingModelGeneration").c_str());
// Handle Onroad Screen Off params
if (s->scene.onroadScreenOff > 0) {
@@ -389,7 +393,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks", "longitudinalPlanSP", "liveMapDataSP",
"carControl", "lateralPlanSPDEPRECATED", "gpsLocation", "gpsLocationExternal", "liveParameters", "liveTorqueParameters",
"controlsStateSP"
"controlsStateSP", "modelV2SP"
});
Params params;
selfdrive/ui/ui.h
+2 -1
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@@ -202,7 +202,8 @@ typedef struct UIScene {
int speed_limit_warning_value_offset;
bool custom_driving_model_valid;
int driving_model_generation;
cereal::ModelGeneration driving_model_generation;
uint32_t driving_model_capabilities;
bool feature_status_toggle;
bool onroad_settings_toggle;